WO2017095919A1 - Systèmes et procédés de mise en œuvre de message de bus can (réseau local de commande) horodaté - Google Patents

Systèmes et procédés de mise en œuvre de message de bus can (réseau local de commande) horodaté Download PDF

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Publication number
WO2017095919A1
WO2017095919A1 PCT/US2016/064208 US2016064208W WO2017095919A1 WO 2017095919 A1 WO2017095919 A1 WO 2017095919A1 US 2016064208 W US2016064208 W US 2016064208W WO 2017095919 A1 WO2017095919 A1 WO 2017095919A1
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WO
WIPO (PCT)
Prior art keywords
message
entry
time stamp
lookup table
frame
Prior art date
Application number
PCT/US2016/064208
Other languages
English (en)
Inventor
Fei Wu
Dehuan MENG
Biing Long SHU
Hugh Walsh
Original Assignee
Marvell World Trade Ltd.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Marvell World Trade Ltd. filed Critical Marvell World Trade Ltd.
Priority to EP16816086.9A priority Critical patent/EP3384638B1/fr
Publication of WO2017095919A1 publication Critical patent/WO2017095919A1/fr

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Classifications

    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L45/00—Routing or path finding of packets in data switching networks
    • H04L45/74—Address processing for routing
    • H04L45/745—Address table lookup; Address filtering
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
    • B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
    • B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L12/00—Data switching networks
    • H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
    • H04L12/40—Bus networks
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L12/00—Data switching networks
    • H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
    • H04L12/40—Bus networks
    • H04L12/40143—Bus networks involving priority mechanisms
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L12/00—Data switching networks
    • H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
    • H04L12/40—Bus networks
    • H04L12/40143—Bus networks involving priority mechanisms
    • H04L12/40163—Bus networks involving priority mechanisms by assigning priority to messages according to a message field
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L12/00—Data switching networks
    • H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
    • H04L12/46—Interconnection of networks
    • H04L12/4604—LAN interconnection over a backbone network, e.g. Internet, Frame Relay
    • H04L12/462—LAN interconnection over a bridge based backbone
    • H04L12/4625—Single bridge functionality, e.g. connection of two networks over a single bridge
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L12/00—Data switching networks
    • H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
    • H04L12/46—Interconnection of networks
    • H04L12/4633—Interconnection of networks using encapsulation techniques, e.g. tunneling
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L12/00—Data switching networks
    • H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
    • H04L12/46—Interconnection of networks
    • H04L12/4641—Virtual LANs, VLANs, e.g. virtual private networks [VPN]
    • H04L12/4645—Details on frame tagging
    • H04L12/465—Details on frame tagging wherein a single frame includes a plurality of VLAN tags
    • H04L12/4662—Details on frame tagging wherein a single frame includes a plurality of VLAN tags wherein a VLAN tag represents a service instance, e.g. I-SID in PBB
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L12/00—Data switching networks
    • H04L12/66—Arrangements for connecting between networks having differing types of switching systems, e.g. gateways
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L43/00—Arrangements for monitoring or testing data switching networks
    • H04L43/10—Active monitoring, e.g. heartbeat, ping or trace-route
    • H04L43/106—Active monitoring, e.g. heartbeat, ping or trace-route using time related information in packets, e.g. by adding timestamps
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L45/00—Routing or path finding of packets in data switching networks
    • H04L45/02—Topology update or discovery
    • H04L45/021—Ensuring consistency of routing table updates, e.g. by using epoch numbers
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L45/00—Routing or path finding of packets in data switching networks
    • H04L45/16—Multipoint routing
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L45/00—Routing or path finding of packets in data switching networks
    • H04L45/54—Organization of routing tables
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L45/00—Routing or path finding of packets in data switching networks
    • H04L45/74—Address processing for routing
    • H04L45/745—Address table lookup; Address filtering
    • H04L45/7452—Multiple parallel or consecutive lookup operations
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L47/00—Traffic control in data switching networks
    • H04L47/10—Flow control; Congestion control
    • H04L47/28—Flow control; Congestion control in relation to timing considerations
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L12/00—Data switching networks
    • H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
    • H04L12/40—Bus networks
    • H04L2012/40208—Bus networks characterized by the use of a particular bus standard
    • H04L2012/40215—Controller Area Network CAN

Definitions

  • Provisional Patent Application No. 62/261,611 filed December 1, 2015, currently pending, and also claims the benefit of United States Provisional Patent
  • a Controller Area Network is a serial communication protocol developed by Bosch. Messaging in a CAN is performed over a CAN bus.
  • a CAN bus is a message-based bus that allows devices to communicate with one another without any central arbitration. Each message is broadcast to all nodes on the bus, and each message has an assigned priority. Priorities of the messages are embedded in frames of those messages, and an arbitration protocol guarantees that messages with higher priorities will be transmitted before messages with lower priorities.
  • a CAN bus is conventionally a local bus that only transmits messages between devices directly connected by the CAN bus.
  • control circuitry e.g., of a network bridge, such as an
  • Ethernet bridge may receive a CAN message, and, in response to receiving the CAN message, may generate a time stamp.
  • the control circuitry may add an amount of latency to a time at which the CAN message is received.
  • the control circuitry may add an entry to a lookup table stored in memory of the network bridge, where the entry correlates a CAN message ID
  • the control circuitry may add the entry to the lookup table in response to receiving a last bit of an End-of-Frame corresponding to the CAN message.
  • the lookup table may include a finite amount of entries, where each entry of the finite amount of entries has an associated age. Thus, if the finite number of entries has been reached, when a new entry is added, the control circuitry may delete an oldest entry in the lookup table, increase the age of each entry remaining in the lookup table, and assign the added entry an age that is youngest relative to each other entry of the lookup table.
  • the time stamp may indicate a time in which a Start-of-Frame ("SOF") of the CAN message is received by the network bridge.
  • SOF Start-of-Frame
  • control circuitry may determine the CAN message ID by, in response to the network bridge receiving the SOF of the CAN message, monitoring a CAN bus of the CAN network for a CAN frame corresponding to the CAN message, detecting, from the monitoring, the CAN frame, and identifying the CAN message ID from an arbitration field of the CAN frame.
  • the control circuitry when transmitting the CAN message according to the time stamp of the entry, may determine that a message with the CAN message ID is to be transmitted over an Ethernet network.
  • the control circuitry may determine a time stamp associated with the CAN message ID by looking up the CAN message ID in the lookup table, and may schedule the CAN message for transmission over the Ethernet network based on the time stamp.
  • the control circuitry when determining the time stamp associated with the CAN message ID, may detect, when looking up the CAN message ID in the lookup table, a plurality of entries that each
  • circuitry may determine a time stamp for each entry of the plurality of entries, and may select the time stamp of the entry with a smallest corresponding age.
  • FIG. 1 is an illustrative depiction of the contents of a CAN data frame, in accordance with some embodiments of the disclosure
  • FIG. 2 is an illustrative depiction of a timestamp lookup table on a switched network bridge that bridges two CAN networks, in accordance with some embodiments of the disclosure.
  • FIG. 3 is an illustrative flow chart that depicts a process for using a timestamp lookup table to enable transmission of CAN messages across a switched network, in accordance with some embodiments of the disclosure .
  • a switched network bridge such as an Ethernet bridge
  • Ethernet is a time-sensitive protocol that relies on time stamps to transmit messages
  • the CAN protocol is not time-sensitive, and relies on an arbitrator and the above-mentioned priority scheme to ensure messages are delivered in a proper order.
  • a time-sensitive protocol such as Ethernet
  • systems, methods, and apparatuses are described herein for applying a time stamping mechanism to CAN messages.
  • control circuitry may generate a timestamp for data frame 100 that corresponds to when SoF 102 was
  • the timestamp may be
  • control circuitry may continue to monitor the CAN bus from which data frame 100 was received, and may thereby detect arbitration field 104 of data frame 100.
  • the control circuitry may obtain the CAN message ID
  • FIG. 2 is an illustrative depiction of a timestamp lookup table on a switched network bridge that bridges two CAN networks, in accordance with some embodiments of the disclosure.
  • Each entry of timestamp lookup table 200 includes age 202 (age of entry) , timestamp 204, and CAN message ID 206. The manner in which timestamp 204 and CAN message ID 206 are input into each entry of timestamp lookup table 200 are described above with respect to FIG. 1.
  • Age 202 reflects how old an entry is relative to other entries of timestamp lookup table 200.
  • timestamp lookup table 200 i.e., when a new data frame 100 is detected
  • that new entry will become the youngest entry in timestamp lookup table 200, and the ages of the other entries of timestamp lookup table 200 will be increased.
  • control circuitry of the switched network bridge When control circuitry of the switched network bridge is ready to transmit a CAN message to another CAN bus by way of a switched network, the control circuitry of the switched network bridge will look up CAN message ID 206 of the CAN message in timestamp lookup table 200, and will use timestamp 204 to time the transmission of the CAN message. In the case where a plurality of entries with a same CAN message ID 206 exist, the control circuitry may select the timestamp of the entry with the smallest age 202. After the CAN message is selected, the control
  • circuitry will package timestamp 204 and CAN message ID 206 into a switched network frame, such as an Ethernet frame, and will transmit the CAN message by way of the switched network to the destination CAN bus.
  • a switched network frame such as an Ethernet frame
  • FIG. 3 is an illustrative flow chart that depicts a process for using a timestamp lookup table to enable transmission of CAN messages across a switched network, in accordance with some embodiments of the disclosure.
  • Process 300 begins at 302, where control circuitry of a switched network bridge, such as an Ethernet bridge, receives a CAN message.
  • Process 300 continues to 304, where, in response to receiving the CAN message, the control circuitry generates a time stamp. This time stamp may be based on the SoF or EoF of data frame 100, as described above.
  • Process 300 continues to 306, where the control circuitry of the switched network bridge may add an entry to a lookup table (e.g., timestamp lookup table 200) stored in memory of the bridge, where the entry may correlate a CAN message ID corresponding to the CAN message (e.g., CAN message ID 206) with the time stamp (e.g., timestamp 204) . As described above, the entry may contain additional information, such as age 202. Process 300 may continue to 308, where the control circuitry may encapsulate the time stamp and the CAN message may into a switched network frame
  • Process 300 continues to 310, where the control circuitry may transmit the CAN message according to the time stamp of the entry (e.g., by transmitting the encapsulated time stamp and CAN message) .
  • the control circuitry at the destination of the frame may choose to transmit the frame with reference to the time stamp.
  • ASIC application-specific integrated circuit
  • FPGA field-programmable gate array
  • the disclosure may also be implemented in software by, for example, encoding transitory or non- transitory instructions for performing the process discussed above in one or more transitory or non- transitory computer-readable media.

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  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Health & Medical Sciences (AREA)
  • Cardiology (AREA)
  • General Health & Medical Sciences (AREA)
  • Computer Security & Cryptography (AREA)
  • Mechanical Engineering (AREA)
  • Small-Scale Networks (AREA)
  • Data Exchanges In Wide-Area Networks (AREA)

Abstract

L'invention concerne des systèmes, des procédés et des appareils d'horodatage de message de bus CAN (réseau local de commande). De la circuiterie de commande (par exemple, d'un pont de réseau) peut recevoir un message CAN et peut, en réponse à la réception du message CAN, produire une estampille temporelle. La circuiterie de commande peut ajouter une entrée à une table de consultation stockée en mémoire, où l'entrée corrèle un identifiant de message CAN (ID) correspondant au message CAN avec l'estampille temporelle. La circuiterie de commande peut encapsuler le message CAN et l'estampille temporelle, et peut transmettre le message CAN en fonction de l'estampille temporelle.
PCT/US2016/064208 2015-12-01 2016-11-30 Systèmes et procédés de mise en œuvre de message de bus can (réseau local de commande) horodaté WO2017095919A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP16816086.9A EP3384638B1 (fr) 2015-12-01 2016-11-30 Systèmes et procédés de mise en oeuvre de message de bus can (réseau local de commande) horodaté

Applications Claiming Priority (12)

Application Number Priority Date Filing Date Title
US201562261583P 2015-12-01 2015-12-01
US201562261611P 2015-12-01 2015-12-01
US201562261629P 2015-12-01 2015-12-01
US62/261,583 2015-12-01
US62/261,611 2015-12-01
US62/261,629 2015-12-01
US15/363,955 2016-11-29
US15/363,964 US10212081B2 (en) 2015-12-01 2016-11-29 Systems and methods for implementing a time-stamped controller area network (CAN) bus message
US15/363,955 US10129150B2 (en) 2015-12-01 2016-11-29 Systems and methods for implementing a switched controller area network
US15/363,957 2016-11-29
US15/363,957 US10270694B2 (en) 2015-12-01 2016-11-29 Control message routing structure for a controller area network
US15/363,964 2016-11-29

Publications (1)

Publication Number Publication Date
WO2017095919A1 true WO2017095919A1 (fr) 2017-06-08

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PCT/US2016/064208 WO2017095919A1 (fr) 2015-12-01 2016-11-30 Systèmes et procédés de mise en œuvre de message de bus can (réseau local de commande) horodaté
PCT/US2016/064136 WO2017095874A1 (fr) 2015-12-01 2016-11-30 Structure d'acheminement de message de commande pour un bus can
PCT/US2016/064192 WO2017095907A1 (fr) 2015-12-01 2016-11-30 Systèmes et procédés pour mettre en œuvre un réseau can commuté

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PCT/US2016/064136 WO2017095874A1 (fr) 2015-12-01 2016-11-30 Structure d'acheminement de message de commande pour un bus can
PCT/US2016/064192 WO2017095907A1 (fr) 2015-12-01 2016-11-30 Systèmes et procédés pour mettre en œuvre un réseau can commuté

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US (4) US10270694B2 (fr)
EP (3) EP3384638B1 (fr)
WO (3) WO2017095919A1 (fr)

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